FB1.SELECT

Description

FB1.SELECT sets the feedback type manually (see FB1.IDENTIFIED) or allows the drive to automatically identify the feedback type on power up.

FB1 5V Power Supply Notes:

If FB1.SELECT = -1, the 5V power supply will only turn on during the initialization phase. If the feedback type cannot be automatically detected, the 5V power supply will be turned off, and remain off until a DRV.CLRFAULTS is issued (which will re-start the FB1 initialization), or FB1.SELECT is manually set to a specific feedback type.

When FB1.SELECT is manually set to a specific feedback type, the FB1 5V power supply will remain on, unless a short is detected. This is useful for encoder types that may require calibration.

FB1.SELECT Input Values

Changing these input values will manually set the value of FB1.IDENTIFIED .


  • If the feedback setting fails, FB1.IDENTIFIED is automatically set to 0 (no feedback identified).

Input Value

Description

–1

The drive automatically identifies the type of feedback as part of the power up process. Setting this value does not modify FB1.IDENTIFIED, unless it is saved in the NV memory for the next power up. If a feedback with memory is connected to the drive, the value of FB1.IDENTIFIED is set automatically to the feedback identified and all parameters read from the feedback are set according to the values read from the feedback. If no feedback is connected or a feedback with no memory is connected, the value of FB1.IDENTIFIED is set to 0 (no feedback identified) and all values normally read from the feedback are read from NV memory (if stored in NV) otherwise they are set to the default values.
0 Unknown. No feedback identified.
1 Manually sets the type to No Encoder. This setting can be used if no feedback device is connected to the X10 connector. This may be the case if FB2 or FB3 is used for position or velocity control.

10

Manually sets the type to Incremental encoder with A/B Quad, marker pulse and Hall.
11 Manually sets the type to Incremental encoder with A/B Quad, marker pulse and no Hall.
12

Manually sets the type to Halls Only feedback (added 01-13-08-000).

This feedback type only supports operating in Torque mode and Velocity mode.

Due to heavy quantization, large current spikes occur at hall transition points, it is advisable to tune the observer to a low frequency (like 10Hz) and set the observer gain appropriately to achieve the best operating results.

20

Manually sets the type to Sine Encoder , with marker pulse and Hall.
21 Manually sets the type to Sine encoder , with marker pulse & No Halls.

30

Manually sets the type to EnDat 2.1 with Sine Cosine.

31

Manually sets the type to EnDat 2.2.

32

Manually sets the type to BiSS (Analog) with Sine Cosine.

33

Manually sets the type to HIPERFACE .

Note that all HIPERFACE feedback types are supported by the AKD. This includes SEL/SEK 37, SEL/SEK 52, SKM/SKS 36, SRS/SRM 50, SRS/SRM 60, SEK 90, SEK160, and SEK 260. The AKD drive will support any new HIPERFACE device, since any new device will be released with a label type of 0xFF. Devices with this label type have all of the pertinent information to configure these devices (number of single turn bits, number of multi-turn bits, and number of sine/cosine periods) stored in their memory. The AKD is able to read this information, and automatically configure the drive for proper operation. Note that the devices SEK 90, SEK 160, and SEK 260 are label type 0xFF.
34 Manually sets the type to BiSS-C digital.

40

Manually sets the type to Resolver.

41

Manually sets the type to SFD (Smart Feedback Device).
42 Manually sets the type to Tamagawa. This feedback type is not available on models with extension type NA (AKD Models).
43 Manually sets the type to use Cyclic Feedback from the Motion Network.
44 Manually sets the type to Network cyclic feedback via FB2. Similar to mode 43, but the network interface position information is given by FB2 instead of the fieldbus cyclic data. This can be used for debugging purposes.
45

Manually sets the type to SFD3. This value is only supported on model numbers AKD-xxyyzz-NBxx. This value is only supported for firmware version 01-11-00-000 and later.

To use 2 wire SFD3 there must be an external feedback connection adapter between the 2 wires and the AKD X10 primary feedback connector. The feedback connection adapter comes standard on Kollmorgen single motor cables.

46

Manually sets the type to HIPERFACE DSL. This value is only supported on model numbers AKD-xxyyzz-NBxx.This value is only supported for firmware versions 01-09-00-000 and later.

To use 2 wire HIPERFACE DSL there must be an external feedback connection adapter between the 2 wires and the AKD X10 primary feedback connector. The feedback connection adapter comes standard on Kollmorgen single motor cables.

50 This value is reserved and should not be used.
63 Manually sets the type to a simulated motor. This value is only supported on model numbers AKD-xxyyzz-NBxx.

General Information

Type

NV Parameter

Units

N/A

Range

-1, 1, 10, 11, 12, 20, 21, 30, 31, 32, 33, 34, 40, 41, 42, 43, 44, 45, 46, 50

Default Value

-1

Data Type

Integer

Start Version

M_01-00-00-000

Variants Supported

Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes*
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

*In SynqNet, a parameter may be available in the firmware but have no effect on the system. See SynqNet Supported Parameters.

Fieldbus Information

If your drive type is listed as supported but no index, address, or instance number is listed, then this parameter is accessible through WorkBench, but not over your fieldbus type. For information on SynqNet parameters see Supported Parameters (➜ p. 1).

Fieldbus

Index/Subindex

Object Start Version

EtherCAT COE and CANopen

353Bh/0

M_01-00-00-000

Fieldbus

Address

Attributes Signed?

Profinet

2155

Byte Yes
sercos® III 2 Octets
Fieldbus Instance Data Size Data Type
EtherNet/IP 156 1 Byte Signed Integer

Fieldbus

Index/Subindex

Is 64 bit? Attributes Signed?

Object Start Version

Modbus

310

No 8 bit Yes

M_01-03-00-000

Related Topics

Feedback 1 | FB1.IDENTIFIED